Vehicular control system

ABSTRACT

A vehicular control system includes a camera, a radar sensor and a processor operable to process image data captured by the camera and radar data captured by the radar sensor. Responsive at least in part to determination that the equipped vehicle will not complete a turn at an intersection before an estimated time to arrival of a detected approaching vehicle at the intersection elapses, the system determines that it is not safe to proceed along the projected path of travel. The system determines that it is safe for the equipped vehicle to proceed along the projected path of travel responsive at least in part to (i) determination that the equipped vehicle will complete the turn at the intersection before the estimated time to arrival of the approaching vehicle at the intersection elapses and (ii) determination that no object is present in the projected path of travel of the equipped vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 17/929,406, filed Sep. 2, 2022, now U.S. Pat. No. 11,676,400,which is a continuation of U.S. patent application Ser. No. 16/949,051,filed Oct. 12, 2020, now U.S. Pat. No. 11,436,840, which is acontinuation of U.S. patent application Ser. No. 16/600,657, filed Oct.14, 2019, now U.S. Pat. No. 10,803,329, which is a continuation of U.S.patent application Ser. No. 16/221,690, filed Dec. 17, 2018, now U.S.Pat. No. 10,445,600, which is a continuation of U.S. patent applicationSer. No. 16/059,536, filed Aug. 9, 2018, now U.S. Pat. No. 10,157,322,which is a continuation of U.S. patent application Ser. No. 15/681,699,filed Aug. 21, 2017, now U.S. Pat. No. 10,049,285, which is acontinuation of U.S. patent application Ser. No. 14/994,595, filed Jan.13, 2016, now U.S. Pat. No. 9,740,945, which claims the filing benefitsof U.S. provisional application Ser. No. 62/103,220, filed Jan. 14,2015, which is hereby incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle collision avoidancesystem for a vehicle and, more particularly, to a system that utilizesvehicle-to-vehicle communications.

BACKGROUND OF THE INVENTION

Use of vehicle-to-vehicle (V2V) communications andvehicle-to-infrastructure (V2I) communications are known. Such car2caror vehicle to vehicle (V2V) and vehicle to infrastructure (car2X or V2Xor V2I) technology provides for communication between vehicles and/orinfrastructure based on information provided by one or more vehiclesand/or information provided by a remote server or the like. Examples ofsuch systems are described in U.S. Pat. No. 7,580,795, which is herebyincorporated herein by reference in its entirety.

SUMMARY OF THE INVENTION

The present invention provides a collision avoidance system for avehicle that utilizes information from V2V communication systems todetermine the degree of hazard that an approaching vehicle represents tothe equipped vehicle when the driver of the equipped vehicle iscontemplating maneuvering the equipped vehicle into the path of travelof the approaching vehicle. The system may determine an estimated timeto arrival of another vehicle at a location in the targeted path oftravel of the equipped vehicle and may determine if the time to arrivalis above a threshold time (whereby the system may indicate to the driverof the equipped vehicle that it is safe to proceed with the drivingmaneuver) or below a threshold time (whereby the system may indicate tothe driver of the equipped vehicle that it is not safe to proceed withthe driving maneuver). The system may be responsive at least in part toV2V communications and vehicle-to-infrastructure (V2I or V2X)communications and/or GPS data indicative of the location and movementof the equipped vehicle and the approaching vehicle. The system may alsobe responsive to image processing of image data captured by one or morecameras of the vehicle, such as a forward viewing camera. The imageprocessor may, responsive to image processing of captured image data,determine a projected path of travel of the vehicle, and may determinethe presence of an object in the projected path of travel.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of an intersection showing a driving scenariowhere a vehicle equipped with the driver assistance system of thepresent invention is maneuvered through a left turn at the intersection;

FIG. 2 is a flow chart of the algorithm of the driver assistance systemof the present invention, showing the determination by the systemwhether or not it is safe for the vehicle to be driven through theintersection;

FIG. 3 is a plan view of another driving scenario where a vehicleequipped with the driver assistance system of the present invention ismaneuvered onto a road and into the traffic traveling along the road;and

FIG. 4 is a flow chart of the algorithm of the driver assistance systemof the present invention, showing the determination by the systemwhether or not it is safe for the vehicle to be driven into the trafficsituation on the road.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle collision avoidance system and/or driver assist system and/oralert system operates to determine when a collision may be likely and toprovide a warning or alert to the driver. The system of the presentinvention utilizes vehicle-to-vehicle (V2V) communications andvehicle-to-infrastructure (V2I or V2X) communications to determine theapproach of a vehicle to an intersection at or ahead of the subjectvehicle. If the system determines that it is unsafe for the subjectvehicle to proceed (such as to turn in a path that intersects the pathof the approaching vehicle), the system generates an alert to the driverof the subject vehicle. The system may utilize the V2X communications todetermine a status of a traffic light at the intersection and/or mayutilize a GPS system of the vehicle to determine the location andseparation distance of the vehicles, as discussed below. The vehiclecommunication systems may utilize aspects of the systems described inU.S. Pat. Nos. 6,690,268; 6,693,517; 7,156,796 and/or 7,580,795, and/orU.S. Publication Nos. US-2012-0218412, US-2012-0062743, US-2015-0158499:US-2015-0124096 and/or US-2015-0352953, which are all herebyincorporated herein by reference in their entireties.

Many accidents are caused at intersections, because these are thelocations where two or more roads cross each other and activities, suchas turning left, crossing over and turning right and the like, have thepotential for conflicts resulting in crashes.

Often, at such intersections, accidents are caused due to drivermisjudgment, either of the subject vehicle speed or trajectory or of anapproaching vehicle speed or trajectory. For example, and such as shownin FIG. 1 , drivers often misjudge the speed at which an approachingvehicle is arriving from the opposite direction at the intersectionwhile the subject vehicle is turning left (and thus potentially crossingor intersecting the path of travel of the approaching vehicle).

As shown in FIG. 1 , a possible collision scenario involves the subjectvehicle (Car A), which has to yield to let the approaching vehicle (CarB) pass through the intersection. But Car A can make its left turn ifCar B is far enough away from the intersection (and/or approaching theintersection at a slow enough speed). Often, it is difficult for adriver (such as the driver of Car A) to judge the speed of the oncomingcar, and to judge the time required for it to reach the intersection. Ifthe driver of Car A makes the decision to go even when Car B isapproaching at the same time at the intersection, then a collision ispossible.

The yield collision warning algorithm of the present invention can helpthe driver make a more safe and accurate decision in such a scenario andcan prevent accidents. The algorithm and system of the present inventionutilizes V2V (Vehicle to Vehicle) and V2I (Vehicle to Infrastructure)sensors or communication systems to determine the likelihood orpossibility of a collision and, if the system determines that acollision is possible or likely, the system generates an alert to warnthe driver.

As shown in FIG. 2 , the algorithm used to predict collision scenarioreceives heading information (such as speed and direction) of theapproaching vehicle and of the subject vehicle, such as from V2Vcommunication systems and V2V radios or transceivers of the vehicles. Inthe algorithm of the present invention, the heading angles of theapproaching vehicle (CAR B) may be calculated from the GPS data andshared with Car A via V2V communication. Based on the determined headingangles, the direction of motion of each vehicle is calculated inrelation to the other vehicle. The system or algorithm may also receivea communication from a V2X or V2I system that is indicative of the stateof the stop light at the intersection (e.g., red, yellow, green), andthe system may also determine whether or not the driver of the subjectvehicle intends to turn across the intersection (such as responsive to adetermination that a turn signal of the subject vehicle is activated).

As Car A and Car B both are communicating with the infrastructure (viaV2X communication) they may also receive information on the distancefrom the intersection. Both these distances are taken into account bythe algorithm (via receipt of such information from the V2X system) topredict the time to arrival of Car B to the intersection. If this timeis sufficient enough for Car A to complete the left turn (i.e., thedetermined time to arrival of Car B at the intersection is greater thana threshold time or value), the driver is indicated to proceed,otherwise the driver is warned of the collision possibility.

Optionally, the algorithm can be further advanced to include automaticemergency braking, where the system will actuate or control the brakesystem of Car A to automatically brake the vehicle in the situationwhere the algorithm determines or calculates a high probability that acollision may occur. Optionally, the algorithm may be reversed incountries which have left hand drive systems for the vehicles.

With reference to FIG. 3 , if the subject vehicle is at an entry to aroad (such as if the driver of the subject vehicle in leaving a parkinglot or the like) and the vehicle has to enter a high speeding lane, thedriver of the subject vehicle has to judge the speed of the high speedvehicles approaching the subject vehicle location. A slight misjudgmentcan cause an accident.

Based on the V2V communications and GPS data, the system may calculatethe lateral distance of the target (approaching) vehicle (Car B in FIG.3 ) from the subject vehicle (Car A in FIG. 3 ). From this information,the system can further calculate the time to arrival of the targetvehicle to the entry ramp or location of Car A where it is about toenter the road. The algorithm can alert the driver of Car A if there isa high probability of collision if the driver of Car A goes ahead withthe turning/entering maneuver.

As shown in FIG. 4 , the algorithm used to predict such a collisionscenario receives heading information of both vehicles, such as from V2Vradios or the like and calculates the lateral and longitudinal distancebetween the vehicles based at least in part on GPS data or geographicallocation information. The system may determine the time to arrival basedon the speed and distance from Car B to Car A. If the determined time toarrival is greater than a threshold time or value, then the systemdetermines that there is sufficient space for the subject vehicle toenter the road lane and may indicate to the driver to proceed with thedriving maneuver. However, if the determined time to arrival is lessthan the threshold time or value, then the system determines that thereis not sufficient space for the subject vehicle to enter the road laneand may alert the driver to not proceed with the driving maneuver.

The algorithm of the present invention may also apply to the scenariowhere the vehicle turning right on a red signal fails to yield for theoncoming vehicle. Optionally, the algorithm can be further advanced toinclude automatic emergency braking, where the system will actuate orcontrol the brake system of Car A to automatically brake the vehicle inthe situation where the algorithm determines or calculates a highprobability that a collision may occur. Optionally, the algorithm may bereversed in countries which have left hand drive systems for thevehicles.

Another common scenario is where a driver is turning out of a parkinglot and has to cross or cut through multiple lanes of slow movingtraffic (such as traveling left to right in front of the vehicle) to getto the far lanes to are traveling in the opposite direction (such asright to left in front of the vehicle). This is often a very dangeroussituation especially when there is a left turn lane present and othervehicles are traveling faster in the left turn lane. The system of thepresent invention may utilize V2V communications to determine the speedand location of the other vehicles on the road and can protect/warn ofpotential collisions as the subject vehicle is driven out of the parkinglot (or side street or the like).

Therefore, the algorithm/feature or system of the present invention canbe useful for drivers to avoid conflicts and accidents due tomisjudgment at an intersection or any free turn on right scenarios. Thealgorithm of the present invention can be further used as a part of anautonomous or partial autonomous vehicle control system.

Optionally, the vehicle collision avoidance system and/or driverassistance system and/or alert system may operate to capture imagesexterior of the vehicle and may process the captured image data todisplay images and to detect objects or other vehicles (such as vehiclesthat may not have a V2V communication system or radio) at or near thevehicle and in the predicted path of the vehicle, such as to assist adriver of the vehicle in maneuvering the vehicle. The vision systemincludes an image processor or image processing system that is operableto receive image data from one or more cameras and provide an output toa display device for displaying images representative of the capturedimage data. Optionally, the vision system may provide a top down orbird's eye or surround view display and may provide a displayed imagethat is representative of the subject vehicle, and optionally with thedisplayed image being customized to at least partially correspond to theactual subject vehicle.

The system may operate responsive to the communications and to imageprocessing of image data captured by a forward facing camera at thevehicle (such as a camera disposed at and behind the windshield of thevehicle and viewing forwardly through the windshield and in thedirection of travel of the vehicle). For example, a forward facingcamera may capture image data representative of the projected path oftravel of the vehicle, and, via processing of such captured image data,an image processor may determine an object or objects present in thefield of view of the camera and in the forward path of travel of thevehicle. The system includes a control that is operable to processvehicle information to determine an estimated time to arrival of theother vehicle at a location in a projected path of travel of theequipped vehicle. Responsive at least in part to a determination thatthe estimated time to arrival is less than a threshold amount, thecontrol generates an alert to the driver of the equipped vehicle that itis not safe to proceed along the projected path of travel. Moreover,responsive at least in part to (i) a determination that the estimatedtime to arrival is greater than the threshold amount and (ii) adetermination via image processing of captured image data that an objectis present in the projected path of travel of the equipped vehicle, thecontrol generates an alert to the driver of the equipped vehicle that itis not safe to proceed along the projected path of travel. Optionally,responsive at least in part to a determination that (i) the estimatedtime to arrival is greater than a threshold amount and (ii) adetermination via image processing of captured image data that an objectis not present in the projected path of travel of the equipped vehicle,the control may generate an indication to the driver of the equippedvehicle that it is safe to proceed along the projected path of travel.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,881,496; 7,720,580; 7,038,577;5,929,786 and/or 5,786,772, which are hereby incorporated herein byreference in their entireties, a video device for internal cabinsurveillance and/or video telephone function, such as disclosed in U.S.Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or 7,370,983, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties, a traffic sign recognition system, asystem for determining a distance to a leading or trailing vehicle orobject, such as a system utilizing the principles disclosed in U.S. Pat.Nos. 6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A vehicular control system, the vehicular control system comprising:a camera housed in a camera module; wherein the camera module isdisposed behind a windshield of a vehicle equipped with the vehicularcontrol system, the camera viewing through the windshield forward of theequipped vehicle and operable to capture image data; wherein the cameracomprises an imaging sensor comprising at least one million photosensorelements arranged in a two dimensional array of columns and rows; aradar sensor disposed at the equipped vehicle, the radar sensor sensingforward of the vehicle and operable to capture radar data; a processoroperable to (i) process image data captured by the camera to detect anapproaching vehicle present forward of the equipped vehicle that istravelling on a road that the equipped vehicle is travelling along, andthat is approaching an intersection of another road with the road thatthe equipped vehicle is travelling along, and (ii) process radar datacaptured by the radar sensor; wherein the approaching vehicle isdetected by the vehicular control system via at least one selected fromthe group consisting of (i) processing at the processor of image datacaptured by the camera and (ii) processing at the processor of radardata captured by the radar sensor; wherein the vehicular control systemdetermines a projected path of travel of the equipped vehicle, theprojected path of travel of the equipped vehicle comprising a turn bythe equipped vehicle at the intersection and across a traffic lane ofthe road along which both the approaching vehicle and the equippedvehicle are traveling along; wherein the vehicular control systemdetermines estimated time to arrival of the approaching vehicle at theintersection; wherein, responsive at least in part to determinationthat, while proceeding along the projected path of travel of theequipped vehicle, the equipped vehicle will not complete the turn at theintersection before the estimated time to arrival of the approachingvehicle at the intersection elapses, the vehicular control systemdetermines that it is not safe to proceed along the projected path oftravel; wherein the vehicular control system determines that it is notsafe to proceed along the projected path of travel responsive at leastin part to (i) determination that, while proceeding along the projectedpath of travel of the equipped vehicle, the equipped vehicle willcomplete the turn at the intersection before the estimated time toarrival of the approaching vehicle at the intersection elapses and (ii)determination that an object is present in the projected path of travelof the equipped vehicle via at least one selected from the groupconsisting of (a) processing at the processor of captured image data and(b) processing at the processor of captured radar data; and wherein thevehicular control system determines that it is safe for the equippedvehicle to proceed along the projected path of travel responsive atleast in part to (i) determination that, while proceeding along theprojected path of travel of the equipped vehicle, the equipped vehiclewill complete the turn at the intersection before the estimated time toarrival of the approaching vehicle at the intersection elapses and (ii)determination that no object is present in the projected path of travelof the equipped vehicle via at least one selected from the groupconsisting of (a) processing at the processor of captured image data and(b) processing at the processor of captured radar data.
 2. The vehicularcontrol system of claim 1, wherein the vehicular control systemdetermines the projected path of travel of the equipped vehicle at leastin part via processing at the processor of captured image data.
 3. Thevehicular control system of claim 2, wherein the processor comprises animage processing chip, and wherein the projected path of travel of theequipped vehicle is determined at least in part by processing ofcaptured image data by the image processing chip of the processor. 4.The vehicular control system of claim 3, wherein the camera modulecomprises at least one electrical connector.
 5. The vehicular controlsystem of claim 4, wherein the camera module houses the image processingchip.
 6. The vehicular control system of claim 2, wherein determinationof the estimated time to arrival of the approaching vehicle at theintersection is based at least in part on processing at the processor ofcaptured image data.
 7. The vehicular control system of claim 2, whereindetermination of presence of the object in the projected path of travelof the equipped vehicle is based at least in part on processing at theprocessor of captured radar data.
 8. The vehicular control system ofclaim 1, wherein the vehicular control system controls braking of theequipped vehicle responsive to determination that a collision may occurat the intersection.
 9. The vehicular control system of claim 8, whereinthe determined collision that may occur at the intersection comprisescollision with the approaching vehicle.
 10. The vehicular control systemof claim 1, wherein the vehicular control system determines a state of atraffic signal light at the intersection.
 11. The vehicular controlsystem of claim 10, wherein the vehicular control system determines thestate of the traffic signal light at the intersection via a wirelesscommunication.
 12. The vehicular control system of claim 1, wherein thevehicular control system determines the projected path of travel of theequipped vehicle in part responsive to activation of a turn signal ofthe equipped vehicle.
 13. The vehicular control system of claim 1,wherein the determined object comprises a pedestrian.
 14. The vehicularcontrol system of claim 1, wherein the vehicular control systemgenerates an alert to a driver of the equipped vehicle responsive todetermination that it is not safe to proceed along the projected path oftravel.
 15. The vehicular control system of claim 1, whereindetermination of location of equipped vehicle relative to theapproaching vehicle utilizes GPS data.
 16. The vehicular control systemof claim 1, wherein determination of distance of equipped vehicle to theapproaching vehicle utilizes GPS data.
 17. The vehicular control systemof claim 1, wherein determination of a heading angle of the approachingvehicle utilizes GPS data.
 18. A vehicular control system, the vehicularcontrol system comprising: a camera housed in a camera module; whereinthe camera module is disposed behind a windshield of a vehicle equippedwith the vehicular control system, the camera viewing through thewindshield forward of the equipped vehicle and operable to capture imagedata; wherein the camera comprises an imaging sensor comprising at leastone million photosensor elements arranged in a two dimensional array ofcolumns and rows; a radar sensor disposed at the equipped vehicle, theradar sensor sensing forward of the vehicle and operable to captureradar data; a processor operable to (i) process image data captured bythe camera to detect an approaching vehicle present forward of theequipped vehicle that is travelling on a road that the equipped vehicleis travelling along, and that is approaching an intersection of anotherroad with the road that the equipped vehicle is travelling along, and(ii) process radar data captured by the radar sensor; wherein theapproaching vehicle is detected by the vehicular control system via atleast one selected from the group consisting of (i) processing at theprocessor of image data captured by the camera and (ii) processing atthe processor of radar data captured by the radar sensor; wherein thevehicular control system determines a projected path of travel of theequipped vehicle, the projected path of travel of the equipped vehiclecomprising a turn by the equipped vehicle at the intersection and acrossa traffic lane of the road along which both the approaching vehicle andthe equipped vehicle are traveling along; wherein the vehicular controlsystem determines estimated time to arrival of the approaching vehicleat the intersection; wherein, responsive at least in part todetermination that, while proceeding along the projected path of travelof the equipped vehicle, the equipped vehicle will not complete the turnat the intersection before the estimated time to arrival of theapproaching vehicle at the intersection elapses, the vehicular controlsystem determines that it is not safe to proceed along the projectedpath of travel; wherein the vehicular control system determines that itis not safe for the equipped vehicle to proceed along the projected pathof travel responsive at least in part to (i) determination that, whileproceeding along the projected path of travel of the equipped vehicle,the equipped vehicle will complete the turn at the intersection beforethe estimated time to arrival of the approaching vehicle at theintersection elapses and (ii) determination that an object is present inthe projected path of travel of the equipped vehicle via at least oneselected from the group consisting of (a) processing at the processor ofcaptured image data and (b) processing at the processor of capturedradar data; wherein the vehicular control system determines that it issafe for the equipped vehicle to proceed along the projected path oftravel responsive at least in part to (i) determination that, whileproceeding along the projected path of travel of the equipped vehicle,the equipped vehicle will complete the turn at the intersection beforethe estimated time to arrival of the approaching vehicle at theintersection elapses and (ii) determination that no object is present inthe projected path of travel of the equipped vehicle via at least oneselected from the group consisting of (a) processing at the processor ofcaptured image data and (b) processing at the processor of capturedradar data; and wherein at least one selected from the group consistingof (i) the vehicular control system generates an alert to a driver ofthe equipped vehicle responsive to determination that it is not safe toproceed along the projected path of travel and (ii) the vehicularcontrol system controls braking of the equipped vehicle responsive todetermination that a collision may occur at the intersection.
 19. Thevehicular control system of claim 18, wherein the vehicular controlsystem determines the projected path of travel of the equipped vehicleat least in part via processing at the processor of captured image data.20. The vehicular control system of claim 19, wherein the processorcomprises an image processing chip, and wherein the projected path oftravel of the equipped vehicle is determined at least in part byprocessing of captured image data by the image processing chip of theprocessor, and wherein the camera module comprises at least oneelectrical connector.
 21. The vehicular control system of claim 20,wherein the camera module houses the image processing chip.
 22. Thevehicular control system of claim 19, wherein the vehicular controlsystem controls braking of the equipped vehicle responsive todetermination that a collision may occur at the intersection.
 23. Thevehicular control system of claim 22, wherein the determined collisionthat may occur at the intersection comprises collision with theapproaching vehicle.
 24. The vehicular control system of claim 19,wherein determination of the estimated time to arrival of theapproaching vehicle at the intersection is based at least in part onprocessing at the processor of captured image data.
 25. The vehicularcontrol system of claim 19, wherein determination of presence of theobject in the projected path of travel of the equipped vehicle is basedat least in part on processing at the processor of captured radar data.26. The vehicular control system of claim 19, wherein the vehicularcontrol system generates an alert to a driver of the equipped vehicleresponsive to determination that it is not safe to proceed along theprojected path of travel.
 27. The vehicular control system of claim 18,wherein the vehicular control system determines a state of a trafficsignal light at the intersection.
 28. The vehicular control system ofclaim 27, wherein the vehicular control system determines the state ofthe traffic signal light at the intersection via a wirelesscommunication.
 29. The vehicular control system of claim 18, wherein thevehicular control system determines the projected path of travel of theequipped vehicle in part responsive to activation of a turn signal ofthe equipped vehicle.
 30. The vehicular control system of claim 18,wherein the determined object comprises a pedestrian.
 31. The vehicularcontrol system of claim 18, wherein determination of location ofequipped vehicle relative to the approaching vehicle utilizes GPS data.32. The vehicular control system of claim 18, wherein determination ofdistance of equipped vehicle to the approaching vehicle utilizes GPSdata.
 33. The vehicular control system of claim 18, whereindetermination of a heading angle of the approaching vehicle utilizes GPSdata.
 34. A vehicular control system, the vehicular control systemcomprising: a camera housed in a camera module; wherein the cameramodule is disposed behind a windshield of a vehicle equipped with thevehicular control system, the camera viewing through the windshieldforward of the equipped vehicle and operable to capture image data;wherein the camera comprises an imaging sensor comprising at least onemillion photosensor elements arranged in a two dimensional array ofcolumns and rows; a radar sensor disposed at the equipped vehicle, theradar sensor sensing forward of the vehicle and operable to captureradar data; a processor operable to (i) process image data captured bythe camera to detect an approaching vehicle present forward of theequipped vehicle that is travelling on a road that the equipped vehicleis travelling along, and that is approaching an intersection of anotherroad with the road that the equipped vehicle is travelling along, and(ii) process radar data captured by the radar sensor; wherein theapproaching vehicle is detected by the vehicular control system via atleast one selected from the group consisting of (i) processing at theprocessor of image data captured by the camera and (ii) processing atthe processor of radar data captured by the radar sensor; wherein thevehicular control system determines a projected path of travel of theequipped vehicle, the projected path of travel of the equipped vehiclecomprising a turn by the equipped vehicle at the intersection and acrossa traffic lane of the road along which both the approaching vehicle andthe equipped vehicle are traveling along; wherein the vehicular controlsystem determines estimated time to arrival of the approaching vehicleat the intersection; wherein, responsive at least in part todetermination that, while proceeding along the projected path of travelof the equipped vehicle, the equipped vehicle will not complete the turnat the intersection before the estimated time to arrival of theapproaching vehicle at the intersection elapses, the vehicular controlsystem determines that it is not safe to proceed along the projectedpath of travel; wherein the vehicular control system determines that itis not safe to proceed along the projected path of travel responsive atleast in part to (i) determination that, while proceeding along theprojected path of travel of the equipped vehicle, the equipped vehiclewill complete the turn at the intersection before the estimated time toarrival of the approaching vehicle at the intersection elapses and (ii)determination that an object is present in the projected path of travelof the equipped vehicle via at least one selected from the groupconsisting of (a) processing at the processor of captured image data and(b) processing at the processor of captured radar data; wherein thevehicular control system determines that it is safe for the equippedvehicle to proceed along the projected path of travel responsive atleast in part to (i) determination that, while proceeding along theprojected path of travel of the equipped vehicle, the equipped vehiclewill complete the turn at the intersection before the estimated time toarrival of the approaching vehicle at the intersection elapses and (ii)determination that no object is present in the projected path of travelof the equipped vehicle via at least one selected from the groupconsisting of (a) processing at the processor of captured image data and(b) processing at the processor of captured radar data; and wherein thevehicular control system generates an alert to a driver of the equippedvehicle responsive to determination that it is not safe to proceed alongthe projected path of travel.
 35. The vehicular control system of claim34, wherein the vehicular control system determines the projected pathof travel of the equipped vehicle at least in part via processing at theprocessor of captured image data.
 36. The vehicular control system ofclaim 35, wherein the processor comprises an image processing chip, andwherein the projected path of travel of the equipped vehicle isdetermined at least in part by processing of captured image data by theimage processing chip of the processor, and wherein the camera modulecomprises at least one electrical connector.
 37. The vehicular controlsystem of claim 36, wherein the camera module houses the imageprocessing chip.
 38. The vehicular control system of claim 35, whereinthe vehicular control system controls braking of the equipped vehicleresponsive to determination that a collision may occur at theintersection.
 39. The vehicular control system of claim 38, wherein thedetermined collision that may occur at the intersection comprisescollision with the approaching vehicle.
 40. The vehicular control systemof claim 34, wherein the vehicular control system determines a state ofa traffic signal light at the intersection.
 41. The vehicular controlsystem of claim 40, wherein the vehicular control system determines thestate of the traffic signal light at the intersection via a wirelesscommunication.
 42. The vehicular control system of claim 34, wherein thevehicular control system determines the projected path of travel of theequipped vehicle in part responsive to activation of a turn signal ofthe equipped vehicle.
 43. The vehicular control system of claim 34,wherein the determined object comprises a pedestrian.
 44. The vehicularcontrol system of claim 43, wherein determination of the estimated timeto arrival of the approaching vehicle at the intersection is based atleast in part on processing at the processor of captured image data. 45.The vehicular control system of claim 43, wherein determination ofpresence of the object in the projected path of travel of the equippedvehicle is based at least in part on processing at the processor ofcaptured radar data.